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EP4081433A4 - Adaptive tilting radars for effective vehicle controls - Google Patents

Adaptive tilting radars for effective vehicle controls Download PDF

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Publication number
EP4081433A4
EP4081433A4 EP20904877.6A EP20904877A EP4081433A4 EP 4081433 A4 EP4081433 A4 EP 4081433A4 EP 20904877 A EP20904877 A EP 20904877A EP 4081433 A4 EP4081433 A4 EP 4081433A4
Authority
EP
European Patent Office
Prior art keywords
radars
vehicle controls
effective vehicle
tilting
adaptive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20904877.6A
Other languages
German (de)
French (fr)
Other versions
EP4081433A1 (en
Inventor
Jamaledin Izadian
Mohammad Emadi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Woven by Toyota US Inc
Original Assignee
Woven by Toyota US Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Woven by Toyota US Inc filed Critical Woven by Toyota US Inc
Publication of EP4081433A1 publication Critical patent/EP4081433A1/en
Publication of EP4081433A4 publication Critical patent/EP4081433A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93273—Sensor installation details on the top of the vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
EP20904877.6A 2019-12-27 2020-12-23 Adaptive tilting radars for effective vehicle controls Pending EP4081433A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/729,106 US11360191B2 (en) 2019-12-27 2019-12-27 Adaptive tilting radars for effective vehicle controls
PCT/US2020/066805 WO2021133892A1 (en) 2019-12-27 2020-12-23 Adaptive tilting radars for effective vehicle controls

Publications (2)

Publication Number Publication Date
EP4081433A1 EP4081433A1 (en) 2022-11-02
EP4081433A4 true EP4081433A4 (en) 2024-02-07

Family

ID=76545641

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20904877.6A Pending EP4081433A4 (en) 2019-12-27 2020-12-23 Adaptive tilting radars for effective vehicle controls

Country Status (5)

Country Link
US (1) US11360191B2 (en)
EP (1) EP4081433A4 (en)
JP (1) JP2023508995A (en)
CN (1) CN115052798A (en)
WO (1) WO2021133892A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11378652B2 (en) * 2019-09-03 2022-07-05 GM Global Technology Operations LLC Enhancement of vehicle radar system robustness based on elevation information
CN110726974A (en) * 2019-10-17 2020-01-24 北京邮电大学 Radar detection method and device based on radar communication integration
CN114013433B (en) * 2021-12-24 2023-12-05 东风悦享科技有限公司 Millimeter wave radar self-adaptive adjustment method based on high-precision map
JP2023174366A (en) * 2022-05-27 2023-12-07 京セラ株式会社 Electronic apparatus
CN118731921B (en) * 2024-09-02 2024-11-08 成都积微物联集团股份有限公司 OTFS-based multi-target detection method, system, storage medium and equipment

Citations (7)

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US20100182199A1 (en) * 2009-01-22 2010-07-22 Mando Corporation Apparatus and sensor for adjusting sensor vertical alignment
US20110156955A1 (en) * 2009-01-22 2011-06-30 Mando Corporation Apparatus and sensor for adjusting vertical sensor-alignment
US20160003938A1 (en) * 2014-07-03 2016-01-07 GM Global Technology Operations LLC Vehicle radar with beam adjustment
KR20170007924A (en) * 2015-07-13 2017-01-23 현대모비스 주식회사 System for tuning FOV of sensor and method thereof
US20170363718A1 (en) * 2016-06-20 2017-12-21 Fujitsu Ten Limited Radar device and vertical axis-misalignment detecting method
US20190086512A1 (en) * 2017-09-15 2019-03-21 GM Global Technology Operations LLC Method and apparatus for vehicular radar calibration
WO2019181608A1 (en) * 2018-03-23 2019-09-26 株式会社日立国際電気 Radar device, radar system, and method for adjusting radar antenna

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DE19751004A1 (en) * 1997-11-18 1999-05-20 Daimler Chrysler Ag Processing method for radar signals especially from vehicles in street
DE10124909A1 (en) * 2001-05-22 2002-12-19 Bosch Gmbh Robert Method and device for operating a radar sensor arrangement
JP3862015B2 (en) 2002-10-25 2006-12-27 オムロン株式会社 Automotive radar equipment
KR100471268B1 (en) 2002-10-28 2005-03-10 현대자동차주식회사 Method for detecting vehicle distance
US7706978B2 (en) * 2005-09-02 2010-04-27 Delphi Technologies, Inc. Method for estimating unknown parameters for a vehicle object detection system
JP4265803B2 (en) * 2005-11-22 2009-05-20 三菱電機株式会社 Radar system
DE102006058305A1 (en) * 2006-12-11 2008-06-12 Robert Bosch Gmbh Method for detecting a vertical misalignment of a radar sensor
DE102010054066A1 (en) * 2010-12-10 2012-06-14 GM Global Technology Operations LLC Method for operating a sensor of a vehicle and driver assistance system for a vehicle
JP2012194169A (en) * 2011-03-17 2012-10-11 Hyundai Mobis Co Ltd Alignment method and system of radar of vehicle
US20130154871A1 (en) * 2011-12-14 2013-06-20 Ford Global Technologies, Llc Tilt sensing system for automotive radar
US8957807B2 (en) * 2011-12-14 2015-02-17 Ford Global Technologies, Llc Internal multi-axis G sensing used to align an automotive forward radar to the vehicle's thrust axis
US20170328729A1 (en) * 2012-08-14 2017-11-16 Google Inc. System To Optimize Sensor Parameters In An Autonomous Vehicle
DE102013208735A1 (en) * 2013-05-13 2014-11-13 Robert Bosch Gmbh Method and device for determining and compensating for a misalignment angle of a radar sensor of a vehicle
KR102173994B1 (en) 2014-03-18 2020-11-04 주식회사 만도 Tuning method and control device of vehicle radar
DE102014207523A1 (en) * 2014-04-22 2015-10-22 Robert Bosch Gmbh METHOD FOR CALIBRATING A RADAR SENSOR AND RADAR SYSTEM
US9594378B2 (en) * 2015-07-31 2017-03-14 Delphi Technologies, Inc. Variable object detection field-of-focus for automated vehicle control
KR102015076B1 (en) 2017-11-13 2019-08-27 주식회사 소네트 Apparatus for autonomous driving algorithm development using everyday driving data and method thereof
US10768304B2 (en) 2017-12-13 2020-09-08 Luminar Technologies, Inc. Processing point clouds of vehicle sensors having variable scan line distributions using interpolation functions

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100182199A1 (en) * 2009-01-22 2010-07-22 Mando Corporation Apparatus and sensor for adjusting sensor vertical alignment
US20110156955A1 (en) * 2009-01-22 2011-06-30 Mando Corporation Apparatus and sensor for adjusting vertical sensor-alignment
US20160003938A1 (en) * 2014-07-03 2016-01-07 GM Global Technology Operations LLC Vehicle radar with beam adjustment
KR20170007924A (en) * 2015-07-13 2017-01-23 현대모비스 주식회사 System for tuning FOV of sensor and method thereof
US20170363718A1 (en) * 2016-06-20 2017-12-21 Fujitsu Ten Limited Radar device and vertical axis-misalignment detecting method
US20190086512A1 (en) * 2017-09-15 2019-03-21 GM Global Technology Operations LLC Method and apparatus for vehicular radar calibration
WO2019181608A1 (en) * 2018-03-23 2019-09-26 株式会社日立国際電気 Radar device, radar system, and method for adjusting radar antenna

Non-Patent Citations (1)

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Title
See also references of WO2021133892A1 *

Also Published As

Publication number Publication date
JP2023508995A (en) 2023-03-06
CN115052798A (en) 2022-09-13
EP4081433A1 (en) 2022-11-02
WO2021133892A1 (en) 2021-07-01
US11360191B2 (en) 2022-06-14
US20210199758A1 (en) 2021-07-01

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Owner name: WOVEN BY TOYOTA, U.S., INC.

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Effective date: 20240108